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- # Generated by PNCconf at Sat Jul 21 16:59:40 2018
- # If you make changes to this file, they will be
- # overwritten when you run PNCconf again
- loadrt [KINS]KINEMATICS
- loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
- loadrt hostmot2
- loadrt hm2_pci config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
- setp hm2_5i25.0.watchdog.timeout_ns 5000000
- loadrt pid names=pid.x,pid.y,pid.z,pid.s
- addf hm2_5i25.0.read servo-thread
- addf motion-command-handler servo-thread
- addf motion-controller servo-thread
- addf pid.x.do-pid-calcs servo-thread
- addf pid.y.do-pid-calcs servo-thread
- addf pid.z.do-pid-calcs servo-thread
- addf pid.s.do-pid-calcs servo-thread
- addf hm2_5i25.0.write servo-thread
- # external output signals
- # external input signals
- #*******************
- # AXIS X JOINT 0
- #*******************
- setp pid.x.Pgain [JOINT_0]P
- setp pid.x.Igain [JOINT_0]I
- setp pid.x.Dgain [JOINT_0]D
- setp pid.x.bias [JOINT_0]BIAS
- setp pid.x.FF0 [JOINT_0]FF0
- setp pid.x.FF1 [JOINT_0]FF1
- setp pid.x.FF2 [JOINT_0]FF2
- setp pid.x.deadband [JOINT_0]DEADBAND
- setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
- setp pid.x.error-previous-target true
- setp pid.x.maxerror .0005
- net x-index-enable <=> pid.x.index-enable
- net x-enable => pid.x.enable
- net x-pos-cmd => pid.x.command
- net x-vel-cmd => pid.x.command-deriv
- net x-pos-fb => pid.x.feedback
- net x-output <= pid.x.output
- # Step Gen signals/setup
- setp hm2_5i25.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
- setp hm2_5i25.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
- setp hm2_5i25.0.stepgen.00.steplen [JOINT_0]STEPLEN
- setp hm2_5i25.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
- setp hm2_5i25.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
- setp hm2_5i25.0.stepgen.00.step_type 0
- setp hm2_5i25.0.stepgen.00.control-type 1
- setp hm2_5i25.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
- setp hm2_5i25.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
- # ---closedloop stepper signals---
- net x-pos-cmd <= joint.0.motor-pos-cmd
- net x-vel-cmd <= joint.0.vel-cmd
- net x-output <= hm2_5i25.0.stepgen.00.velocity-cmd
- net x-pos-fb <= hm2_5i25.0.stepgen.00.position-fb
- net x-pos-fb => joint.0.motor-pos-fb
- net x-enable <= joint.0.amp-enable-out
- net x-enable => hm2_5i25.0.stepgen.00.enable
- # ---setup home / limit switch signals---
- net x-home-sw => joint.0.home-sw-in
- net x-neg-limit => joint.0.neg-lim-sw-in
- net x-pos-limit => joint.0.pos-lim-sw-in
- #*******************
- # AXIS Y JOINT 1
- #*******************
- setp pid.y.Pgain [JOINT_1]P
- setp pid.y.Igain [JOINT_1]I
- setp pid.y.Dgain [JOINT_1]D
- setp pid.y.bias [JOINT_1]BIAS
- setp pid.y.FF0 [JOINT_1]FF0
- setp pid.y.FF1 [JOINT_1]FF1
- setp pid.y.FF2 [JOINT_1]FF2
- setp pid.y.deadband [JOINT_1]DEADBAND
- setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
- setp pid.y.error-previous-target true
- setp pid.y.maxerror .0005
- net y-index-enable <=> pid.y.index-enable
- net y-enable => pid.y.enable
- net y-pos-cmd => pid.y.command
- net y-vel-cmd => pid.y.command-deriv
- net y-pos-fb => pid.y.feedback
- net y-output <= pid.y.output
- # Step Gen signals/setup
- setp hm2_5i25.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
- setp hm2_5i25.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
- setp hm2_5i25.0.stepgen.01.steplen [JOINT_1]STEPLEN
- setp hm2_5i25.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
- setp hm2_5i25.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
- setp hm2_5i25.0.stepgen.01.step_type 0
- setp hm2_5i25.0.stepgen.01.control-type 1
- setp hm2_5i25.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
- setp hm2_5i25.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
- # ---closedloop stepper signals---
- net y-pos-cmd <= joint.1.motor-pos-cmd
- net y-vel-cmd <= joint.1.vel-cmd
- net y-output <= hm2_5i25.0.stepgen.01.velocity-cmd
- net y-pos-fb <= hm2_5i25.0.stepgen.01.position-fb
- net y-pos-fb => joint.1.motor-pos-fb
- net y-enable <= joint.1.amp-enable-out
- net y-enable => hm2_5i25.0.stepgen.01.enable
- # ---setup home / limit switch signals---
- net y-home-sw hm2_5i25.0.7i76.0.0.input-01-not
- net y-home-sw => joint.1.home-sw-in
- net y-home-sw => joint.1.neg-lim-sw-in
- #net y-neg-limit => joint.1.neg-lim-sw-in
- net y-pos-limit => joint.1.pos-lim-sw-in
- #*******************
- # AXIS Z JOINT 2
- #*******************
- setp pid.z.Pgain [JOINT_2]P
- setp pid.z.Igain [JOINT_2]I
- setp pid.z.Dgain [JOINT_2]D
- setp pid.z.bias [JOINT_2]BIAS
- setp pid.z.FF0 [JOINT_2]FF0
- setp pid.z.FF1 [JOINT_2]FF1
- setp pid.z.FF2 [JOINT_2]FF2
- setp pid.z.deadband [JOINT_2]DEADBAND
- setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
- setp pid.z.error-previous-target true
- setp pid.z.maxerror .0005
- net z-index-enable <=> pid.z.index-enable
- net z-enable => pid.z.enable
- net z-pos-cmd => pid.z.command
- net z-vel-cmd => pid.z.command-deriv
- net z-pos-fb => pid.z.feedback
- net z-output <= pid.z.output
- # Step Gen signals/setup
- setp hm2_5i25.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
- setp hm2_5i25.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
- setp hm2_5i25.0.stepgen.02.steplen [JOINT_2]STEPLEN
- setp hm2_5i25.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
- setp hm2_5i25.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
- setp hm2_5i25.0.stepgen.02.step_type 0
- setp hm2_5i25.0.stepgen.02.control-type 1
- setp hm2_5i25.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
- setp hm2_5i25.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
- # ---closedloop stepper signals---
- net z-pos-cmd <= joint.2.motor-pos-cmd
- net z-vel-cmd <= joint.2.vel-cmd
- net z-output <= hm2_5i25.0.stepgen.02.velocity-cmd
- net z-pos-fb <= hm2_5i25.0.stepgen.02.position-fb
- net z-pos-fb => joint.2.motor-pos-fb
- net z-enable <= joint.2.amp-enable-out
- net z-enable => hm2_5i25.0.stepgen.02.enable
- # ---setup home / limit switch signals---
- net z-home-sw => joint.2.home-sw-in
- net z-neg-limit => joint.2.neg-lim-sw-in
- net z-pos-limit => joint.2.pos-lim-sw-in
- #*******************
- # SPINDLE
- #*******************
- setp pid.s.Pgain [SPINDLE_9]P
- setp pid.s.Igain [SPINDLE_9]I
- setp pid.s.Dgain [SPINDLE_9]D
- setp pid.s.bias [SPINDLE_9]BIAS
- setp pid.s.FF0 [SPINDLE_9]FF0
- setp pid.s.FF1 [SPINDLE_9]FF1
- setp pid.s.FF2 [SPINDLE_9]FF2
- setp pid.s.deadband [SPINDLE_9]DEADBAND
- setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
- setp pid.s.error-previous-target true
- net spindle-index-enable <=> pid.s.index-enable
- net spindle-enable => pid.s.enable
- net spindle-vel-cmd-rpm => pid.s.command
- net spindle-vel-fb-rpm => pid.s.feedback
- net spindle-output <= pid.s.output
- # ---setup spindle control signals---
- net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
- net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
- net spindle-vel-cmd-rpm <= motion.spindle-speed-out
- net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
- net spindle-enable <= motion.spindle-on
- net spindle-cw <= motion.spindle-forward
- net spindle-ccw <= motion.spindle-reverse
- net spindle-brake <= motion.spindle-brake
- net spindle-revs => motion.spindle-revs
- net spindle-at-speed => motion.spindle-at-speed
- net spindle-vel-fb-rps => motion.spindle-speed-in
- net spindle-index-enable <=> motion.spindle-index-enable
- # ---Setup spindle at speed signals---
- sets spindle-at-speed true
- #******************************
- # connect miscellaneous signals
- #******************************
- # ---HALUI signals---
- net axis-select-x halui.axis.x.select
- net jog-x-pos halui.axis.x.plus
- net jog-x-neg halui.axis.x.minus
- net jog-x-analog halui.axis.x.analog
- net x-is-homed halui.joint.0.is-homed
- net axis-select-y halui.axis.y.select
- net jog-y-pos halui.axis.y.plus
- net jog-y-neg halui.axis.y.minus
- net jog-y-analog halui.axis.y.analog
- net y-is-homed halui.joint.1.is-homed
- net axis-select-z halui.axis.z.select
- net jog-z-pos halui.axis.z.plus
- net jog-z-neg halui.axis.z.minus
- net jog-z-analog halui.axis.z.analog
- net z-is-homed halui.joint.2.is-homed
- net jog-selected-pos halui.axis.selected.plus
- net jog-selected-neg halui.axis.selected.minus
- net spindle-manual-cw halui.spindle.forward
- net spindle-manual-ccw halui.spindle.reverse
- net spindle-manual-stop halui.spindle.stop
- net machine-is-on halui.machine.is-on
- net jog-speed halui.axis.jog-speed
- net MDI-mode halui.mode.is-mdi
- # ---coolant signals---
- net coolant-mist <= iocontrol.0.coolant-mist
- net coolant-flood <= iocontrol.0.coolant-flood
- # ---probe signal---
- net probe-in => motion.probe-input
- # ---motion control signals---
- net in-position <= motion.in-position
- net machine-is-enabled <= motion.motion-enabled
- # ---digital in / out signals---
- # ---estop signals---
- # estop
- #loadrt estop_latch
- #addf estop-latch.0 servo-thread
- #net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
- #net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
- #net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
- #net remote-estop estop-latch.0.fault-in <= hm2_5i25.0.7i76.0.0.input-00-not
- net estop-out <= iocontrol.0.user-enable-out
- net estop-out => iocontrol.0.emc-enable-in
- # ---manual tool change signals---
- loadusr -W hal_manualtoolchange
- net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
- net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
- net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
- net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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